Self contained powered exoskeleton walker for a disabled user

ABSTRACT

A walker for use by a mobility impaired disabled user. The walker supports the user while moving them through a set of movements correlating to a walking motion. The walker includes an exoskeleton, a power source in the form of a battery pack or other similar onboard power pack together with its associated power supply cables, and a control system 
     The exoskeleton includes a rigid pelvic support member including a pelvic harness and a pair of leg structures. Each of the leg structures comprise an upper leg structural member, a lower leg structural member, a foot member, a main hip actuator, a knee actuator and a main foot actuator.

FIELD OF INVENTION

The present invention relates to a self contained powered exoskeletonwalker for a disabled user that at least substitutes fully disabledfunctions of a user required for walking. In particular but not solelythe present invention relates to a robotic exoskeleton that a paraplegicperson is fully supportable by, in an upright condition to effect awalking gait.

BACKGROUND

During a walking stride by a non disabled person, the centre of mass oftheir body weight tends to move loosely between being almost directlyabove one foot, to being above the other foot, in a side to sidereciprocating movement of their body weight. This side to sidereciprocation of the body weight is minimised by having the feet extendinwardly to almost directly beneath the person's hips, to allow asmoother walking motion. Whatever instability a non disabled person hasduring walking may be made up for by the speed of reaction andstabilising input of other muscles such as abdominal and back muscles.

A walking gait disabled person such as a paraplegic person, does nothave the ability to walk. They may be wheel chair bound and sedentaryfor much of the time. Lack of movement of the legs of a paraplegicperson is known to cause a number of complications. Many are spinalinjured and hence together with muscle wastage and lack of circulationin the limbs and abdomen due to being seated, complications arise. Thesecan include skin problems such as pressure sores, bladder infections,deep vein thrombosis and contracture. limb movement is one way by whichcomplications can be avoided or their instances reduced. For example,circulation can be improved by the person being in a standing position.Applying some pressure to a person's bones by virtue of being in astanding position and allowing their legs to receive some of theirbodyweight is also beneficial.

Accordingly it is an object of the present invention to provide a selfcontained powered exoskeleton walker for a disabled user that at leastsubstitutes fully disabled functions of a user required for walking thatovercomes the abovementioned shortfalls and/or hat will at least providethe public with a useful choice.

BRIEF DESCRIPTION OF THE INVENTION

According to one aspect, the invention may be said to broadly be said tobe a self contained powered exoskeleton walker for a disabled user thatat least substitutes fully disabled functions of a user required forwalking, said walker comprising:

-   -   i) an exoskeleton comprising:        -   a. a rigid pelvic support member carrying a user securing            arrangement for securely fastening a user to at least the            pelvic support member and to vertically support said user            relative to said exoskeleton,        -   b. a first leg structure and a second leg structure, each of            the first leg structure and the second leg structure being            coupled to and extending from said pelvic support member for            operational location adjacent a respective leg of a user,            each of the first leg structure and second leg structure            comprising            -   an upper leg structural member for engagement with the                upper leg of the user, the upper leg structural member                being pivotally engaged at a first end thereof to the                pelvic support member by a hip joint, wherein the hip                joint is configured for facilitating the multi axis                rotational movement of said upper leg structural member                relative to said pelvic support member (i) towards and                away from the coronal plane of the body of the user                and (ii) toward and away from the sagittal plane of the                body of the user for adduction and abduction;            -   a lower leg structural member for engagement with the                lower leg of the user, the lower leg structural member                being pivotally engaged at a first end thereof to a                second end of the upper leg structural member by a knee                joint,            -   a foot member for engagement with the foot of a user,                the foot member being pivotally engaged to a second end                of the lower leg member by a foot joint,            -   a main hip actuator configured for actuating pivotal                movement of said upper leg structural member relative to                said pelvic support member about said hip joint, to in                use pivot the upper leg structural member towards and                away from the coronal plane of the body of the user,            -   a secondary hip actuator, configured for actuating                pivotal movement of said upper leg structural member                relative the pelvic support member about said hip joint                towards and away from the sagittal plane of the body of                the user for adduction and abduction,            -   a knee actuator configured for actuating pivotal                movement of said lower leg structural member relative                said upper leg structural member about said knee joint,            -   a main foot actuator configured for actuating pivotal                movement of said foot member relative said lower leg                structural member about said foot joint about an axis of                rotation substantially parallel to the axis of rotation                of the knee joint;    -   ii) a power source configurable for providing power to at least        one or more selected from said main hip actuators, knee        actuators, and main foot actuators,    -   iii) a control system configurable for controlling movement of        at least one or more selected from said main hip actuators, knee        actuators, and main foot actuators, thereby to move the        exoskeleton relative to the ground on which the walker is        positioned, for at least the purposes of effecting a walking        motion to said user, and    -   iv) wherein in at least one or more selected from the length of        each upper leg structural member and the length of each lower        leg structural member, is adjustable to vary the distance        between the hip joint and knee joint and the distance between        foot joint and knee joint, respectively.

Preferably said secondary hip actuator is configured for actuating saidpivotal movement of said upper leg structural member to either side of aplane parallel to the sagittal plane and passing through said hip jointand preferably in a range of about ten degrees each side.

Preferably said hip joint is one selected from a rose joint, universaljoint or ball and socket joint, configured for facilitating the multiaxis rotational capability of said upper leg structural member relativeto said pelvic support member.

Preferably said walker is configured to at least partially preventpivoting movement of the upper leg structural member about itslongitudinal axis.

Preferably pivotal movement of the upper leg structural member towardsand away from the coronal plane of the body of the user is about an axisof rotation extending downwardly away from said sagittal plane at anangle of between 1 and 6 degrees and preferably 4 degrees to thetransverse plane.

Preferably the knee joint is offset rearwardly from the upper legstructural member to align substantially with an axis of rotation of auser's knee in operation.

Preferably the knee joint is a polycentric knee joint.

Preferably said foot joint is a rose joint, a universal joint or balland socket joint, configured for facilitating the multi axis rotationalcapability of said foot member relative said lower leg structuralmember.

Preferably said exoskeleton comprises, for each of the first legstructure and second leg structure, a secondary foot actuator,configured for actuating rotation of said foot member in towards andaway from said sagittal plane about said foot joint.

Preferably each foot joint is configured with its axis of rotation aboutthe anterior/posterior plane extending downwardly in a lateral directionat an angle of between zero and 6 degrees.

Preferably pivotal movement of the foot member towards and away from thecoronal plane of the body of the user is about an axis of rotationextending downwardly away from said sagittal plane at an angle ofbetween 1 and 6 degrees and preferably 4 degrees to the transverseplane. .

Preferably each of said upper leg structural member and lower legstructural member include a fastener to fasten to the legs of a user.

Preferably each said fastener comprise an orthotic device affixed to asid upper leg structural member and lower leg structural member and thatis shaped to receive the rear part of the users legs and a strap to holdsaid leg to said orthotic device.

Preferably said fasteners comprises an adjustable webbing or strappingfor securing at least partially about a user's leg.

Preferably said adjustable webbing includes an adjustable fasteningarrangement.

Preferably each of said upper leg structural members has engaged theretoan upper leg orthotic device to facilitate the upper leg of a user, inuse, being rigidly held relative a respective said upper leg structuralmember and wherein each said lower leg structural member has engagedthereto a lower leg orthotic device to facilitate the lower leg of auser, in use, being rigidly held relative a respective said lower legstructural member.

Preferably each of said upper leg orthotic devices each carry at leastone strap to secure said upper leg to said orthotic device and each saidlower leg orthotic device carries at least one strap to secure saidlower leg to said orthotic device.

Preferably said orthotic devices are C-shaped, and said pelvic supportmember is substantially C-shaped and presented to allow engagement ofthe exoskeleton with a person by relative movement in a direction normalto the coronal plane.

Preferably the length of each upper leg structural members can be variedto vary the distance between the hip joint and knee joint.

Preferably each said upper leg structural member comprises at least twoparts that are movable relative each other to extend and contract theeffective length of the upper leg structural member.

Preferably the two parts of said upper leg structural member are, byvirtue of (a) a threaded relationship, (b) a telescopic relationship or(c) sliding relationship to each other, adjustable in length.

Preferably the upper leg structural member is configured for removablyreceiving an upper leg lengthening insert to allow an extending andcontracting of the effective length of the upper leg structural member.

Preferably the upper leg lengthening insert is securable to the upperleg structural member by one or more selected from a thread formation, abayonet-type formation, a snap fit formation, or the like.

Preferably the length of each lower leg structural members can be variedto vary the distance between the foot joint and knee joint.

Preferably each said lower leg structural member comprises at least twoparts that are movable relative each other to extend and contract theeffective length of the lower leg structural member.

Preferably the two parts of said lower leg structural member are, byvirtue of (a) a threaded relationship, (b) a telescopic relationship or(c) sliding relationship to each other, adjustable in length.

Preferably the lower leg structural member is configured for removablyreceiving a lower leg lengthening insert to allow an extending andcontracting of the effective length of the lower leg structural member.

Preferably the lower leg lengthening insert is securable to the lowerleg structural member by one or more selected from a thread formation, abayonet-type formation, a snap fit formation, or the like.

Preferably a user is fully supported by a user securing arrangement ator towards the pelvic region of the user, so that that the user's legsdo not support the weight of the user.

Preferably the user securing arrangement includes one or more selectedfrom

-   -   i) a pelvic harness suitable for securing a user's pelvis to the        pelvic support member;    -   ii) a packing arrangement for snugly fitting a user's hips        against the pelvic support member; and    -   iii) a fastener arrangement for securing each of the user's legs        to an associated leg structure.

Preferably the packing arrangement is an inflatable pressure vessel.

Preferably the packing arrangement is at least one foam cushion.

Preferably said exoskeleton includes a torso support that, in useengages to a user above said user securing arrangement.

Preferably the torso support is secured to said rigid pelvic supportmember and includes a rigid member extending upward from said rigidpelvic support member and at least one fastener (preferably a fastenerstrap) to capture the torso of the user to or toward the rigid member.

Preferably the user is suspended from the rigid pelvic support member bya pelvic harness.

Preferably said pelvic harness is affixed to said pelvic support member.

Preferably said pelvic harness includes two thigh traps, one for eachthigh of the user and to locate about each tight in a snug manner, eachsaid thigh strap including a take-off strap via which an upward supportforce can be applied to the thigh that is carried by the pelvic supportmember.

Preferably said take-off strap projects in use upwardly from said thighstrap at a side of the thigh of the user that is opposite to thesagittal plane of the user in order to provide an upwards support forceto the thigh of the user that discourages the thigh strap from migratingup into the crutch of the user.

Preferably said pelvic harness comprises a buttock cradle that includestwo staps, one to locate against the buttocks of a user at a lowerregion thereof and one to locate against the buttocks of a user at ahigher more region thereof.

Preferably said two buttock straps are affixed to at least twosuspension straps that are connected to said pelvic support harness andvia which at least some of the weight of the person carried by saidpelvic harness can be transferred to said pelvic support member.

Preferably the pelvic harness includes a waist strap that locates atleast partly around the hips or waist of a user and is connected to saidpelvic support member to hold said user relative to said pelvic supportmember and restrict movement of the user in a direction towards and awayfrom the coronial plane relative to said pelvic support member.

Preferably said pelvic support member includes a C-shaped user interfacesurface that is presented to locate predominantly about the posteriorside of the hip and/or waist region of the user.

Preferably said user interface projects to be located at at least partof each side of said user also.

Preferably a pelvic harness is suspended from said pelvic supportmember, said pelvic harness to locate about the user in a manner tovertically support said user, wherein said pelvic harness includes atleast one pocket that can removably receive a packer of an appropriateshape and size to provide packing intermediate of said user and saidpelvic support member.

Preferably the user interface surface is shaped to snugly locateadjacent the user and said packers can fill space between said user andsaid user interface.

Preferably a plurality of sensors are provided for providing informationto the control system for facilitating the control of movement of theexoskeleton.

Preferably the plurality of sensors are configured for sensing acharacteristic to be sensed, and generating a signal indicative of thatcharacteristic, and transmitting the signal to the control system forfacilitating the control of movement of the exoskeleton.

Preferably said sensors are selected from at least one of:

-   -   i) an accelerometer to measure the acceleration of at least one        or more selected from said pelvic support member, the upper leg        structural members, the lower leg structural members and the        foot members,    -   ii) an inclinometer to measure the inclination of at least one        or more selected from said pelvic support member, the upper leg        structural members, the lower leg structural members and the        foot members,    -   iii) distance sensors configured for determining the slope of        the ground anteriorly, posteriorly and laterally of the walker,    -   iv) pressure sensors disposed on the foot member to determine        the pressure being applied by the foot member to the ground, and    -   v) position sensors for determining the position and velocity of        the actuators.

Preferably said controller includes a gyroscope configured for defininga reference frame for the purposes of positional control of the or partof the exoskeleton.

Preferably said walker includes a human interface device that preferablyincludes at least one of a joystick and a keypad.

Preferably the exoskeleton is configurable into a sitting position forfacilitating the transfer of a user to and from the walker, saidexoskeleton comprising support surfaces configured and dimensioned to beengageable by a user for facilitating transfer of the user to and/orfrom the walker when in the sitting position.

Preferably the support surfaces are hand holds configured to extendsubstantially horizontally when the walker is in the sitting position.

Preferably the support surfaces are defined by covers that cover atleast part of the exoskeleton.

In a second aspect the present invention may be said to be anexoskeleton device worn by a paraplegic user for device controlledwalking of the user, said exoskeleton device comprising:

-   -   a. a rigid pelvic support member carrying a user securing        arrangement to engage with the user at their pelvis to        vertically support the user relative to said exoskeleton,    -   b. a first leg structure and a second leg structure, each of the        first leg structure and the second leg structure being coupled        to and extending from said pelvic support member for operational        location adjacent a respective leg of a user, each of the first        leg structure and second leg structure comprising        -   an upper leg structural member for engagement with the upper            leg of the user, the upper leg structural member being            pivotally engaged at a first end thereof to the pelvic            support member by a hip joint, wherein the hip joint is            configured for facilitating the multi axis rotational            movement of said upper leg structural member relative to            said pelvic support member towards and away from the coronal            plane of the body of the user;        -   a lower leg structural member for engagement with the lower            leg of the user, the lower leg structural member being            pivotally engaged at a first end thereof to a second end of            the upper leg structural member by a knee joint,        -   a foot member for engagement with the foot of a user, the            foot member being pivotally engaged to a second end of the            lower leg member by a foot joint,        -   a main hip actuator configured for actuating pivotal            movement of said upper leg structural member relative to            said pelvic support member about said hip joint, to in use            pivot the upper leg structural member towards and away from            the coronal plane of the body of the user,        -   a knee actuator configured for actuating pivotal movement of            said lower leg structural member relative said upper leg            structural member about said knee joint,        -   a main foot actuator configured for actuating pivotal            movement of said foot member relative said lower leg            structural member about said foot joint about an axis of            rotation substantially parallel to the axis of rotation of            the knee joint; and    -   wherein in at least one or more selected from the length of each        upper leg structural member and the length of each lower leg        structural member, is adjustable to vary the distance between        the hip joint and knee joint and the distance between foot joint        and knee joint, respectively

Preferably said exoskeleton comprises a power source configurable forproviding power to at least one or more selected from said main hipactuators, knee actuators, and main foot actuators.

Preferably the exoskeleton device is worn by a paraplegic user fordevice controlled and user specified walking motion.

Preferably the user securing arrangement vertically supports all of theuser relative to said exoskeleton.

Preferably the hip joint is configured for facilitating the multi axisrotational movement of said upper leg structural member relative to saidpelvic support member toward and away from the sagittal plane of thebody of the user for adduction and abduction and a secondary hipactuator is provided, configured for actuating pivotal movement of saidupper leg structural member relative the pelvic support member aboutsaid hip joint towards and away from the sagittal plane of the body ofthe user for adduction and abduction.

Preferably a power source is provided configurable for providing powerto at least one or more selected from said main hip actuators, kneeactuators, and main foot actuators,

Preferably a control system is provided configurable for controllingmovement of at least one or more selected from said main hip actuators,knee actuators, and main foot actuators, thereby to move the exoskeletonrelative to the ground on which the walker is positioned, for at leastthe purposes of effecting a walking motion to said user.

In yet a further aspect herein described may be said to be anexoskeleton suitable for a walking aid or a medical device, saidexoskeleton comprising:

-   -   i) a rigid pelvic support member suitable for snug engagement        with a user's hips operationally    -   ii) a user securing arrangement to securely fastening a user at        least to the pelvic support member to support said user        operationally;    -   iii) a first leg structure and a second leg structure, each of        the first leg structure and the second leg structure being        coupled to and extending from said pelvic support member for        operational location adjacent a respective leg of a user, each        of the first leg structure and second leg structure comprising        -   a. an upper leg structural member for engagement with the            upper leg of the user, the upper leg structural member being            pivotally engaged at a first end thereof to the pelvic            support member by a hip joint wherein the hip joint is            configured for facilitating the multi axis rotational            capability of said upper leg structural member relative to            said pelvic support member for movement towards and away            from the coronal plane and for abduction and adduction,        -   b. a lower leg structural member for engagement with the            lower leg of the user, the lower leg structural member being            pivotally engaged at a first end thereof to a second end of            the upper leg structural member by a knee joint,        -   c. a foot member for engagement with the foot of a user, the            foot member being pivotally engaged to a second end of the            lower leg member by a foot joint,        -   d. a main hip actuator configured for actuating rotation of            said upper leg structural member relative to said pelvic            support member about said hip joint, to in use pivot the            upper leg structural member towards and away from the            coronal plane,        -   e. a secondary hip actuator, configured for actuating            rotation of said upper leg structural member for adduction            or abduction about said pelvic support member,        -   f. a knee actuator configured for actuating rotation of said            lower leg structural member relative said upper leg            structural member about said knee joint, and        -   g. a main foot actuator configured for actuating rotation of            said foot member relative said lower leg structural member            about said foot joint about an axis of rotation            substantially parallel to the axis of rotation of the knee            joint.

Preferably the user securing arrangement includes

-   -   i) a pelvic harness securable about a user's pelvis and affixed        to the pelvic support member to suspend the user thereby, and    -   ii) securing fasteners suitable for securing a user's legs to        the leg structures operationally.

Preferably the knee joint is a polycentric knee joint.

Preferably the exoskeleton is a gait vehicle to carry a bipedallocomotion disabled user.

This invention may also be said broadly to consist in the parts,elements and features referred to or indicated in the specification ofthe application, individually or collectively, and any or allcombinations of any two or more of said parts, elements or features, andwhere specific integers are mentioned herein which have knownequivalents in the art to which this invention relates, such knownequivalents are deemed to be incorporated herein as if individually setforth.

The term “anterior” as used in this specification relates to a directioncorresponding to the front or in front of a human user, and the term“anteriorly” is to be construed accordingly.

The term “posterior” as used in this specification relates to adirection corresponding to the back of or behind a human user, and theterm “posteriorly” is to be construed accordingly.

As used herein the term “and/or” means “and” or “or”, or both.

As used herein “(s)” following a noun means the plural and/or singularforms of the noun.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a side view of the exoskeleton forming part of the walkerof the present invention with orthotics provided, shown in thisembodiment without a secondary hip actuator,

FIG. 2 is a cutaway front view of part of the exoskeleton and orthoticsthat is shown in FIG. 1,

FIG. 3 is a front view of the exoskeleton and orthotics shown in FIG. 1,

FIG. 4 is a front view of the walker of FIG. 1 supporting a user,

FIG. 5 is a cutaway side view of part of the exoskeleton of FIG. 1 inthe region of the foot member,

FIG. 6 is a rear view of FIG. 5,

FIG. 7 is a cutaway front view of part of an exoskeleton including asecondary hip actuator in the region of the hip joint,

FIG. 8 is the side view of FIG. 7,

FIG. 8a shows a schematic layout of the lateral movement actuators ofthe exoskeleton seen from the front,

FIG. 9 shows a side view of a foot member,

FIG. 10 shows a bottom view of a foot member,

FIG. 10a shows a perspective view of a foot member,

FIG. 11 shows a schematic side view of part of the exoskeleton showingsensors placement and their intended sensing of the surroundingenvironment,

FIG. 12 shows a side view of the knee joint in schematic form showingthe offset of the knee joint,

FIG. 13 is a side view of a person being supported by an embodiment ofthe walker including a secondary hip actuator,

FIG. 14 shows a side view of a person supported by a walker with coversattached to it,

FIG. 15 shows a perspective cutaway rear view of the foot member andlower leg structural member of the exoskeleton,

FIG. 16 shows a side view of an upper region of the exoskeletonincluding an upper body control extension for supporting upper bodymovement relative to the pelvic brace,

FIG. 17 shows a side view of a walker in a stepping forward position,

FIG. 18 shows a rear view of a walker including a secondary hipactuator,

FIG. 19 shows a front view showing in more detail the bracing andsupport that is provided to secure the user by the exoskeleton,

FIG. 20 shows a cutaway right side view of the knee region of theexoskeleton showing a knee pivot offset,

FIG. 21 shows a cutaway right rear view of the preferred knee pivot offset,

FIG. 22 shows a cutaway right front view of the knee pivot offset,

FIG. 23 shows a side view of a walker with covers on,

FIG. 24 shows a rear view of a walker with covers on,

FIG. 25 shows a front view of a walker with covers included andsupporting the user,

FIG. 26 shows a perspective front view of a third embodiment of a walkerin a stepping position,

FIG. 27 shows a perspective front view of a third embodiment of a walkersupporting a user in a standing position,

FIG. 28 shows a side view of a third embodiment of a walker supporting auser in a standing position,

FIG. 29 shows a front view of a third embodiment of a walker,

FIG. 30 shows a rear view of a region near the hip joint of FIG. 26,

FIG. 31 shows a side view of a region near the hip joint of FIG. 26,

FIG. 32 shows a rear view of a region near the knee joint of FIG. 26,

FIG. 33 shows a perspective front view of a knee joint of FIG. 26,

FIG. 34 shows a perspective front view of a region near the hip joint ofFIG. 26,

FIG. 35 shows a side view of a region near the knee joint of FIG. 26,

FIG. 36 shows a side view of a third embodiment of a walker in astanding position without covers on,

FIG. 37 shows a side view of a third embodiment of a walker in astepping position without covers on,

FIG. 38 shows a side view of a third embodiment of a walker in astepping position with covers on,

FIG. 39 shows a front perspective view of a third embodiment of a walkerin a sitting position without covers on,

FIG. 40 shows a front view of a third embodiment of a walker in asitting position without covers on,

FIG. 41 shows a front perspective view of a region near the foot jointof a walker,

FIG. 42 shows a front view of a region near the foot joint of a walker,

FIG. 43 shows a schematic diagram illustrating the movement of centre ofmass of the walker and user between steps during a walking movement,

FIG. 44 shows a side view of the user support harness and associatedspacer,

FIG. 45 shows a cutaway and partial view of FIG. 44,

FIG. 46 shows a front view of the support harness,

FIG. 47 shows a rear perspective view of the support harness andassociated spacer, and

FIG. 48 shows a reference frame diagram.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

The current invention relates to a walker that includes an exoskeletonwhich in effect completely supports and guides the dead weight of auser's body and can move around in a walking gait like manner. It isenvisaged that a user of this device may have limited strength, and ormovement of their arms. For this reason, the user's arms need not berelied upon to support themselves (for example by means of crutches).

With reference to the above drawings, in which similar features aregenerally indicated by similar numerals, a walker is generally indicatedby the numeral 100.

The walker comprises an exoskeleton suitable for use to control anddetermine the walking gait of a disabled user and is generally indicatedby the numeral 500.

The walker 100 is suitable for fully supporting a mobility impaireddisabled user while moving through a set of movements correlating to awalking gait. Broadly speaking, the walker 100 preferably comprises anexoskeleton 500, a power source in the form of a battery pack or othersimilar onboard power pack (not shown) together with its associatedpower supply cables (not shown), and a control system (not shown).

The exoskeleton 500 comprises a rigid pelvic support member 15 includinga pelvic harness 96, and a pair of leg structures 50 (a first legstructure and second leg structure).

The pelvic support member 15 is required to be of a relatively lowweight, while having a high rigidity in operation. For this reason, thepelvic support member 15 may be moulded from carbon fibre as a singleunit having an interior hollow space (not shown). It is envisaged thatthe pelvic support member 15 could also be moulded from glass fibre. Thepelvic support member 15 further includes transverse shear websextending across its interior hollow space. It is preferably C-shaped sothat it can be engaged around a users pelvis by engagement from in adirection towards the coronal plane of the user (where the user is in anupright position).

Each of the leg structures 50 comprise an upper leg structural member10, a lower leg structural member 11, a foot member 18, a main hipactuator 16, a knee actuator 13 and a main foot actuator 19. More detailof examples are described below.

The upper leg structural member 10 is provided for securing with anupper leg 610 of a user 600, the upper leg structural member 10 beingpivotally engaged at a first end 10 a thereof to the pelvic supportmember 15 by the hip joint 14.

The lower leg structural member 11 is provided for securing with thelower leg 620 of the user 600, the lower leg structural member 11 beingpivotally engaged at a first end 11 a thereof to a second end 10 b ofthe upper leg structural member 10 by a knee joint 12.

In one embodiment, it is envisaged that the knee joint 12 will onlyallow relative pivotal movement between the upper leg structural member10 and the lower leg structural member 11 along a single plane. It willpreferably use a roller bearing arrangement (not shown) to accomplishthis. However, the knee joint 12 may be subject to large twisting forcesor sideways forces, causing axial forces on the roller bearingarrangement. For this reason, it is envisaged that the knee joint willalso include a thrust bearing arrangement (not shown) configured forresisting axial forces on the knee joint 12.

The knee joint may be a polycentric knee joint.

Each of said upper leg structural member 10 and lower leg structuralmember 11 include a fastening arrangement such as in the form ofadjustable fasteners 46 for fastening the respective leg structures 50with the associated legs of a user 600 in use. It is envisaged that thefasteners 46 may be comprised of flexible webbing or straps, and caninclude an adjustable fastening arrangement 47, which could be in theform of straps having a hook and loop fastening system such as Velcro®which pass through a buckle. Alternately, the adjustable fasteningarrangement can include a typical buckle, ratchet buckle or catchformation.

The foot member 18 is for locating the foot 630 of a user 600, the footmember 18 being pivotally engaged to a second end lib of the lower legstructural member 11 by a foot joint 17. Each of said foot members 18includes a foot member structural component 126 for guiding the movementof a user's feet 630 operationally.

In one embodiment, each of said foot members 18 may include a designatedshoe 31 which is conveniently removably engagable with the foot memberstructural component 126, and into which the user 600 can place theirfeet. The shoe 31 may be removably engagable with the foot memberstructural component 126 by a securing formation, such as a clip-typeformation, a snap-fit type formation, a bayonet-type formation or anyother suitable formation. The position of the shoe 31 relative to thefoot member structural component 126 is envisaged as being adjustable,to allow the alignment of a user's ankle with the axis of rotation 17Aof the foot joint 17.

In another embodiment, each of the foot members 18 include a footengaging formation 34 for receiving the users own shoe and in that waylocating a user's foot 630. The foot engaging formation 34 is coupled tothe foot member structural component 126 in an adjustable manner, toagain allow for positioning of the user's 600 ankle.

The main hip actuator 16 is configured for actuating rotation of saidupper leg structural member 10 relative to said pelvic support member 15about said hip joint 14, to thereby (in use) pivot the upper legstructural member 10 in towards and away from the coronal plane of theuser 600.

The exoskeleton 500 may further include, for each of the leg structures50, a secondary hip actuator 38. The secondary hip actuator 38 isconfigured for actuating rotation of the upper leg structural member 10in adduction and abduction relative the pelvic support member 15 andrelative to the user 600 in use. In a preferred embodiment, thesecondary hip actuator 38 is configured for actuating rotation of saidupper leg structural member 10 in towards and away from a plane passingthrough the hip joint and parallel to the sagittal plane, in a range ofabout twelve degrees, and more preferably about six degrees, to eitherside of the plane.

The knee actuator 13 is configured for actuating rotation of said lowerleg structural member 11 relative said upper leg structural member 10about said knee joint 12.

The main foot actuator 19 is configured for actuating rotation of saidfoot member 18 relative said lower leg structural member 11 about saidfoot joint 17 about an axis of rotation 17A substantially parallel tothe axis of rotation 12A of the knee joint 12.

Further, the exoskeleton 500 may include for each of the leg structures50 a secondary foot actuator 39. The secondary foot actuator 39 isconfigured for actuating rotation of said foot member 18 in towards andaway from the sagittal plane about said foot joint 17. The rotation maybe in the range of about ten degrees, and more preferably about sixdegrees to either side.

The actuators used are preferably low voltage DC actuators with positionfeedback through a sensor in the actuator. The low voltage aspect of theactuator is important in that it is safe for use and will do no harm tothe user in the case of a fault. Typically, an actuator would be causedto move by an electric motor (not shown) driving a worm gear (notshown), which in turn causes the actuator to extend or retract.

In use, the user is strapped to and supported by the exoskeleton 500. Itis envisaged that the walker 100 is a self contained, and in use, selfsupporting structure that is capable of moving the user 600 over ground.It does so by moving the legs of the user in a walking gait like mannerand supporting the user during the movement. The walker 100 includes auser fastening arrangement that may comprise a pelvic harness 96including braces, tethers, strapping, a harness or webbing to hold theuser's 600 hips snugly to the pelvic support member 15, and eitherorthotics or adjustable fasteners to secure the user's legs and/or feetto the leg structures 50. The braces include orthotics 4 positioned,configured and designed to ensure correct alignment of the users limbsand joints and can also include straps or webbing. The orthotics helpensure the user 600 is not only supported but is also correctly alignedwithin the exoskeleton so as not to damage the user's 600 limbs orjoints. The orthotics may include webbing or straps to hold the user inposition relative the formed portion of the orthotics. The webbing mayalso facilitate an easy and adjustable fitting and release of the userfrom the walker 100.

The orthotics are preferably engaged and/or capable of being releasablyengaged to the exoskeleton. With reference to FIG. 3, the orthotics mayinclude an upper leg orthotic 26 and a lower leg orthotic 27. These maybe directly joined to each or indirectly joined to each other by theexoskeleton. For example with reference to FIG. 3, the upper legorthotic 26 and lower leg orthotic 27 may be joined at the joints 28.The orthotics are engageable to the exoskeleton 500 via connectors 29.

The connectors 29 rigidly hold the orthotics to the exoskeleton. Theconnectors 29 are of a shape and configuration so that a correctalignment of the upper and lower leg of the person is achieved onceengaged to the exoskeleton. The connectors 29 may be of a dove tailconfiguration or snap lock configuration or other. The connectors 29 mayfacilitate a releasable engagement of the orthotics to the exoskeleton500. This can be beneficial to a user 600 who normally wears orthotics.This allows for such a person to more rapidly associate themselves withthe exoskeleton 500. It also allows for such a person to associate withthe exoskeleton 500 in a comfortable manner because the orthotics 4 arealready engaged to the person in an appropriate location.

The control of the walker is achieved by the control system which isconfigurable for controlling movement of the main hip actuators,secondary hip actuators, knee actuators, main foot actuators, andsecondary foot actuators. A power source is configurable for providingpower to the actuators 16, 13, 19, 38, 39.

Controlled movement of the actuators can cause movement of theexoskeleton 500 relative to the ground on which the walker ispositioned. When controlled to actuate the actuators in the correctsequence, a walking gait like motion can be achieved by the exoskeleton.Further, when a mobility impaired disabled user 600 is secured to thewalker, the user 600 is caused to move their joints and muscles throughthe motions of walking, thereby assisting in the prevention ofdeterioration of a user's 600 physiology.

The walker may be controlled by the user by way of a joystick 2 andkeypad 3 normally positioned at waist height. The keypad 3 and joystick2 may be supported by an arm 5. This may be able to pivot to movebetween at least one operational position (eg in use extendinghorizontally or pointing down vertically) and a retired position (egextending vertically)

More detail will now be described with reference to FIGS. 1-3. Theexoskeleton 500 includes an upper leg structural member 10 and a lowerleg structural member 11. These are connected by a knee joint 12 thatdefines a pivot axis 12A to allow the upper leg member 10 and lower legstructural member 11 to pivot relative to each other. The pivot axis 12Aensures the upper leg member and lower leg member can rotate relative toeach other but only about one pivot axis. Alternatively a polycentricknee joint may be used.

Movement about the knee axis 12A of the upper leg member and lower legmember can be actuated by the knee actuator 13. The knee actuator 13extends between parts of the upper leg member and lower leg member forthe purposes of actuating relative rotational movement between the upperleg member 10 and lower leg structural member 11.

The knee joint 12 is preferably located at a distal first end 10 b ofthe upper leg member 10. At a first end 10 a of the upper leg member 10is a hip joint 14 that pivotally engages the upper leg member 10 withthe pelvic support member 15. The hip joint 14 defines a hip axis 14Athat in use is located relative to the user 600 at or approximate to thenatural axis of hip rotation towards and away from the coronal plane. Ina preferred embodiment, each hip joint 14 is configured relative to thepelvic support member 15 with its axis of rotation 14A extendingdownwardly in a lateral direction (i.e. substantially parallel to thecoronal plane) at an angle of between zero and ten degrees, and morepreferably at about four degrees to the transverse plane. Thisinclination of the axis of rotation 14A mimics as a close approximationa human beings upper leg alignment and is illustrated as angle a in FIG.30. The inclination means that the foot members of the walker 100 arecloser together, which allows for more natural transfer of the centre ofmass (generally located about the middle of the pelvis) to a pointwithin the support area provided by the foot members 18 during when thewalker 100 is controlled in to move through a walking motion. This isfurther illustrated in FIG. 43, showing how the movement of the combinedcentre of mass (illustrated as point C) of the walker 100 and the usermoves in a reduced side to side movement between the individual steps ina walking movement, compared to a walker not having such an inclinationof the axis of rotation of the hip joint (shown in broken lines).

The hip joint 14 allows for a relative rotation between the upper legmember 10 and the pelvic support member 15. Such rotation is preferablyprimarily about an axis that is parallel to the knee axis 12A. Howeverthe hip joint 14 may also allow for a rotation of the upper leg member10 relative the pelvic support member 15 in an abduction and adductionmanner. This multi axis pivoting capability can be facilitated by theuse of a rose joint to define the hip joint 14. It is envisaged that thehip joint 14 (in the form of a rose joint) may be limited in itsmovement by a pair of horizontally aligned plastic, and preferablyacetyl, bushes (not shown) disposed on either side of the rose joint. Avertically aligned flange (not shown) connected to the upper legstructural member 10 will be prevented from pivotal movement in ahorizontal plane in this way, at least partially preventing pivotingmovement of the upper leg structural member 10 about its longitudinalaxis.

Rotation of the pelvic support member 15 relative the upper leg member10 about an axis parallel to the knee axis 12A, at the hip joint 14 canbe achieved by the use of the main hip actuator 16.

Disposed at a second distal end lib (the end away from the knee joint)of the lower leg structural member 11, is a foot member 18. The footmember 18 is capable to rotating relative the lower leg structuralmember 11 by virtue of the foot joint 17. The foot joint 17 preferablydefines a pivot axis 17 a that extends parallel with the knee axis 12A.Pivotal movement of foot member 18 about the foot joint 17 relative tothe lower structural support member 11 towards and away from the coronalplane can be effected by the foot actuator 19.

The foot joint 17 may, like the hip joint, be a rose joint to facilitateits multi-axis pivoting capability. The foot joint 17 can allow for thefoot member 18 to have multiple degrees of rotational movement relativethe lower leg structural member 11. In a preferred embodiment, each footjoint 17 is configured with its axis of rotation 17A extendingdownwardly in a lateral direction at an angle of between zero and 6degrees, and more preferably at about four degrees.

A secondary foot actuator 39 may be provided, and coupled to the footmember 18 to control a rotational movement of the foot member in adirection substantially transverse to the direction in which the mainfoot actuator 19 can control rotational movement towards and away fromthe sagittal plane. The secondary foot actuator 39 may be engaged to anaxle or lever arm 40 of the foot member 18 to facilitate this pivotingmovement.

With reference to FIGS. 5-6, in FIG. 5 there is shown a close up view ofthe foot member 18, foot joint 17 and lower leg structural member 11 ofthe device, wherein it can be seen that a secondary axis 17 b isprovided about which the foot member 18 can rotate as a result ofoperation of the secondary actuator 39.

FIGS. 7-8, show a primary axis of rotation that is about axis 14 a and asecondary axis defined by axis 14 b, movement about which can becontrolled by the secondary hip actuator 38.

To allow for the walker 100 to be fitted to a user to allow the user tooperate the device in a safe manner, it is important to ensure that thespacing between hip joint 14, knee joint 12 and foot joint 17 isappropriate. Appropriate positioning should be where such joints are, asclose as possible, aligned with the corresponding natural joints of auser.

The exoskeleton 500, when worn by a user will sit relative a user 600 ina position defined by a combination of factors. The user is preferablyheld to the exoskeleton by the use of orthotics 4 that are engaged tothe exoskeleton. Adjustment of the position of the hip joint, knee jointand foot joint is achieved by virtue of adjustability in the effectivelength of the upper leg member 10 and the lower leg structural member11. Such adjustment may be achieved by a turn buckle style adjustmentmeans 20 that may be located at the second distal end of the lower legstructural member 11 and a turn buckle 21 at the first distal end of theupper leg member 10. The turn buckle 21 can allow for the distancebetween the hip joint 14 and knee joint 12 to be varied and the turnbuckle 20 can allow for the distance between the knee joint and the footjoint 17 to be varied. In an alternate embodiment, the length adjustmentmay be accomplished by the insertion of lengthening inserts, which maybe screwed into the upper and lower leg structural members 10, 11. Itwill be appreciated that adjustment features can be provided elsewhereand may also come in different forms such as in the form of a snap fitarrangement, bayonet type arrangement, telescopic or other means ofsetting the distance between the joints. This adjustment can allow forthe one device to be used by different users that may be of differingbody shape or size.

The walker is primarily designed for use by paraplegic users who areunable to exercise any control over their legs and feet. The walkerprovides stability to the user in a standing and walking gait by thefeatures described herein that substitute the anatomical functions ofthe user that the user needs to stand and walk but that the user haslost control over. Such a mobility impaired disabled users needs to befully supported as they are not able to stand by themselves. In thiscontext, the walker offers full support to a mobility impaired disableduser for standing and during a walking gait. In addition an importantaspect of the walker is its ability to support the mobility impaireddisabled user in a position so that their own legs are weight bearing.This causes their bones to be subjected to stress. Typically, mobilityimpaired disabled user's leg and pelvic bones deteriorate over time.This is caused by the removal or leeching of minerals from their boneswhere their bones are not subjected to regular stress. In addition tothe weakening of their bones, mobility impaired disabled users cansuffer from downstream complications from this mineral removal, in thatthese minerals may build up in other parts of their bodies, for instancein, such as kidney stones or the like.

In subjecting a mobility impaired disabled user's bones to stress wherethey would otherwise not be, helps prevent deterioration of a user'sbones, and subsequent complications where minerals removed from theuser's bones builds up elsewhere in the user's system. Further, causingmovement of the user's legs assists in stimulating blood flow throughtheir system, which allows associated physiological benefits. The legstructures of the exoskeleton are able to be adjusted in length in orderto tune the degree of stress that the users legs are places under. Thislength adjustability is important in order to ensure for example that anew user can receive a custom set walker for use that will havesignificant adverse effects on their body. Or in case a new user ischanging in height and requires the walker to be re-tuned.

The pelvic support member 15 holds part of the hip joints 14 therebysetting a fixed spacing of the hip joints 14 relative each other. Thepelvic support member 15 is preferably a rigid member that can sit aboutpart of the pelvis of a user. Preferably the pelvic support member 15extends substantially about the posterior of the pelvis region of a user600 and to the sides of the user. The pelvic support member 15 or anextension member that may be removably engaged thereto may also extendto offer support to the lower torso or waist of the user. With referenceto FIG. 16 there is shown an additional support making the devicesuitable for users with lack of upper body strength and or function.There may be provided one or more torso support in the form of aharnesses or upper body braces 92 that is attached to the pelvic supportmember 15. The upper body brace 92 can be provided for users 600 thathave limited upper body control. This upper body brace 92 may include aframe or corset that is actuated to move the user's upper body 640 tohelp with their balance. In one embodiment (not shown), the torsosupport harness 92 can be connected to the pelvic support member.

The user is supported at the pelvic support member 15 by a pelvicharness 96 which may include adjustable straps or webbing which extendabout the legs of a user and are fastened and released as appropriate bythe user. Such webbing may be adjustable in length. It may include thelikes of a hook and loop fastening system such as Velcro® forfacilitating easy entry and exit from the walker by the user. Withreference to FIG. 4 it can be seen that the harness can include webbing23. A user 600 can be strapped to the hip frame 15 by webbing 23 aroundtheir waist to ensure that the user remains firmly held to the hip frame15. Further, a packing arrangement composed of a material such as wedgeshaped foam or foamed plastic may be used to ensure a snug fit by theuser in the hip frame 15. It is also envisaged that the packingarrangement 101 could be an inflatable thin walled pressure vessel (notshown).

FIGS. 44 to 47 show a pelvic support harness in more detail that helpssupport a user relative to the pelvic support member in a manner that iscomfortable and of a nature to reduce any skin damage. The harness ispredominantly made from webbing straps as shown in FIGS. 45 and 46.Suspension straps 757 are at or towards their upper ends fastened to thepelvic support member at points 821 as shown in FIG. 39 (shown on oneside of the pelvic support member only). These suspension strapstransfer most of the weight of the user to the pelvic support member 15.Dependent from the suspension straps 758 and 757 are the buttock straps831 and the thigh straps 756.

The buttock straps comprise of a lower and upper buttock strap that forma cradle like shape to receive the buttocks of the user. The upperbuttock strap 837 locates more around the posterior of the buttocks. Thelower buttock strap is more proximate to the coronal plane. The upperand lower buttock straps can be adjusted in height relative to thepelvic support member by being moveably mounted relative to thesuspension straps 758. They can also be adjusted in height at where theyengage with the suspension straps 757.

The buttock straps can also be moved towards and away from each other bymovement along the suspension traps 758 in order to change the shape ofthe cradle they form. The distance between suspension points 734 canalso be adjusted by virtue of the buttock straps being lengthadjustable.

The thigh straps 756 are able to open and close by use of buckles 766.These can be adjusted to ensure a snug fit of the thigh straps to theuser.

The thigh straps are designed to sit low around the inside leg of thethigh. And extend upwardly around to the other side of the thigh fromthere. The take-off strap 787 of the thigh strap is located on theoutside of the leg and the load transferred there through helps locatethe thigh strap relative the tight of the user in a manner to avoid thethigh strap from riding upwardly and into the crotch of the user.

Located intermediate of the harness and the pelvic support member is aspacer 933 that defines a pocket or pockets that removably containspacer elements such as foam or inflatable pads. These are located inthe pockets to pad out the gap between the user and the pelvic supportmember in order to ensure that a snug location of the user occursrelative to the pelvic support member.

Some or all of the components of the exoskeleton 500 may be fully orpartially covered by covers 98 (as shown in FIGS. 14, 23, 25 and 38).These covers 98 are provided for safety, waterproofing, dustproofing andaesthetic purposes and said covers 98 will be of sufficient strength andstability to allow the user 600 to transfer into and out of the walkerby using the covers for support. In one embodiment, handles may be builtinto the covers 98, to facilitate transfer of the user 600 to and fromthe exoskeleton 500.

In one embodiment, the exoskeleton 500 is configurable to a seatedposition (as shown in figures 39 and 40). For example, when theexoskeleton 500 is in a seated position, the surfaces 99 of the covers(eg shown in FIG. 23, but not in the seated position) will extendsubstantially horizontally. The walker 100, located on a seat will thengive the user a rigid surface to rely on for the purposes of theirtransfer into and out of the device. As such the covers 98 arepreferably engaged to the exoskeleton in a rigid manner and in a mannerthat ensures they are stable relative thereto. The covers 98 may also(or instead) include functional shape features that can offer hand holdsto the user for similar purposes.

The walker 100 may include a number of inertia measurement units 55shown in FIGS. 9 and 10. Preferably, each of these inertia measurementunits 55 may consist of an accelerometer, a gyroscope and aninclinometer. These inertia measurement units 55 measure and providefeedback on the attitude and rate of change of attitude and momentum ofthe walker 100 in operation and provide input variables to thecontroller.

It is envisaged that in one embodiment, the walker 100 can includedistance sensors such as ultrasonic, laser or infrared sensors 56. Thesesensors can measure the distance between a set-point on the device tothe surface of the ground. There may also be six ultrasonic sensors (notshown) to achieve this, one to the left, one to the right, one to theleft side, one to the right side one at the back and one at the front ofthe device.

The walker 100 can also include two position sensors 58, 59 (ultrasonic,infrared or laser) at the front and two 60, 61 at the back of the devicefor detecting objects which could act as an obstacle to movement of thewalker 100. The walker further includes a distance sensor on each legmeasuring distance downwardly in front of each leg to potentiallymeasure the distance from the lowest level of each foot to the ground ortop of a step.

In one embodiment, the foot member 18 can include contact/pressuresensors 67, 68, 69 (shown in FIG. 11) that can detect contact of thefoot member 18 with a surface and/or the degree of pressure beingapplied by part of the foot member 18 to the surface, or even thepressure variation applied to the ground across the bottom of the footmember 18. It is envisaged that in a preferred embodiment, the sensorson the foot member 18 are sealed by a waterproof cover (not shown).

It is envisaged that any of these sensors are configurable for providinginformation to the control system for facilitating the control ofmovement of the exoskeleton 500. They will typically do this by sensinga particular characteristic to be sensed and generating a signalindicative of that characteristic, and transmitting the signal to thecontrol system for facilitating the control of movement of theexoskeleton 500.

The device may also include seat sensors (not shown) for detectingforces applied by a user to the walker. It is envisaged that these couldbe in the form of a strain gauge (not shown) or the like. Two of thesemay exist at the rear of the walker 100, one in each “thigh” region.

The walker can further include pressure sensors 65 and 66 in the frontand rear of the foot. These can detect any obstacles in front of thefoot members 18.

It is envisaged that the walker control system (not shown) is configuredto receive user input via a human interface device 1601 through which ahuman interface with the control system and may input information andreceive information through sensory signals such as sound, light orvibration. Some examples of such a human interface device are a controlpad (not shown), a keypad 3, a joystick 2, a touch screen or the like.

The control system includes a human interface device 1601. As described,various sensors, including sensors in the actuators are configurable toprovide feedback signals which can be used by the control system forfacilitating the control of the actuators.

In the preferred embodiment a control pad 4 will be used forhuman-machine interfacing. The control pad will be pivotable on a swingarm 5. It is envisaged that in one preferred embodiment, the control pad7 contains a membrane keypad (3), light emitting diode (LED) lights (notshown), a joystick 2 and a battery meter (not shown). Other suitablehuman machine interfacing controls may be used. For example a touchscreen (not shown) may replace the control pad.

The keypad 3 of the preferred embodiment may further include an audiblebuzzer to indicate warnings and the selection of inputs and/or functionsof the control system.

It is envisaged that the LEDs can be used for a wide variety offunctions, including fault indication, to indicate charging of the powersupply, or to indicate that the emergency power supply (not shown) isbeing used.

The LED's can also be used as a battery meter to provide an indicationof the available power in the main battery pack, ranging from all LEDslit up meaning the battery is fully charged to no LEDs lit up meaningthe battery needs charging.

The joystick 2 will be used as a user input means to input controlinstructions to the control system.

The walker is powered by on-board battery packs (not shown). In thepreferred embodiment the battery packs are located at the ‘kidneys’ inthe hip frame and at the front of the ‘shins’ in the leg covers 98. Thebattery system is a low voltage DC system and the battery packs arerechargeable from domestic power supply or vehicle power supplies. Atleast the actuators require power from the battery packs in order toallow them to actuate.

The battery packs are removable for quick replacement with anotherbattery pack of similar capacity or extended capacity.

The battery packs can be charged on-board the walker or externally inthe specifically designed charger.

Typically only a section of the battery packs will be used and in theevent of these being depleted an audible alarm will sound as well as avisual battery charge indicator on the control panel will alert the userof the low battery power situation, the walker will then be able toautomatically switch the power over to the reserve battery portion.Alternately, and in another preferred embodiment, the control panel willmerely alert the user of a low power situation, and no reserve batterypacks will be provided to conserve weight. It is envisaged that thewalker 100 will assist in restoring basic mobility to a disabled user.

The walker is self contained with on board power and control systems andcan be recharged using an in car charger or domestic power supply.

1-42. (canceled)
 43. A self contained powered exoskeleton walker for adisabled user that at least substitutes fully disabled functions of auser required for walking, said walker comprising: an exoskeletoncomprising: a rigid pelvic support member to which is affixed a pelvicharness configured and adapted for securely fastening the user to atleast the pelvic support member, a first leg structure and a second legstructure, each of the first leg structure and the second leg structurebeing coupled to and extending from said pelvic support member foroperational location adjacent a respective leg of the user, each of thefirst leg structure and second leg structure comprising an upper legstructural member for engagement with the upper leg of the user, theupper leg structural member being pivotally engaged at a first endthereof to the pelvic support member by a passive hip joint, wherein thehip joint is configured to be driven and for facilitating multi axisrotational movement of said upper leg structural member relative to saidpelvic support member towards and away from a coronal plane of theuser's body, and toward and away from a. sagittal plane of the user'sbody for adduction and abduction; a lower leg structural member forengagement with the lower leg of the user, the lower leg structuralmember being pivotally engaged at a first end thereof to a second end ofthe upper leg structural member by a knee joint providing an axis ofrotation, a foot member for engagement with a foot of the user, the footmember being pivotally engaged to at second end of the lower leg memberby a foot joint, a linear main hip actuator configured for actuatingpivotal movement and control the position of said upper leg structuralmember relative to said pelvic support member about said hip joint; toin use pivot the upper leg structural member towards and away from thecoronal plane of the body of the user, the main hip actuator connectedat i) a proximal end to the pelvic support member at an offset distancebelow and posterior to the pivotal axis of the hip joint and ii) adistal end to the upper leg structural member at an offset distanceabove the knee joint, a linear secondary nip actuator, configured foractuating pivotal movement and control the position of said upper legstructural member relative the pelvic support member about said hipjoint towards and away from the sagittal plane of the body of the userfor adduction and abduction, the secondary hip actuator connected at i)a proximal end to the pelvic support member at an offset distancecollinear to the pivotal axis of the hip joint and ii) a distal end tothe upper leg structural member at an offset distance posterior of theknee joint, a knee actuator configured for actuating pivotal movementand control the position of said lower leg structural member relativesaid upper leg structural member about said knee joint, a main footactuator configured for actuating pivotal movement and controlling theposition of said foot member relative said lower leg structural member.a power source configurable for providing power to at least one or moreselected, from said main hip actuators, knee actuators, and main footactuators, a control system configurable for controlling movement of atleast one or more selected from said main and secondary hip actuators,knee actuators, and main foot actuators, thereby to move the exoskeletonrelative to ground on which the walker is positioned, for at least thepurposes of effecting a walking motion to said user.
 44. The walker asclaimed in claim 42 wherein said secondary hip actuator is configuredfor actuating said pivotal movement of said upper leg structural memberto either side of a plane parallel to the sagittal plane and passingthrough said hip joint.
 45. The walker as claimed in claim 42 whereinsaid hip joint is one selected from a rose joint, universal joint orbail and socket joint, configured for facilitating a multi axisrotational capability of said upper leg structural member relative tosaid pelvic support member.
 46. The walker as claimed in claim 42wherein pivotal movement of the upper leg structural member by the mainhip actuator is about an axis of rotation extending laterally from saidsagittal plane and downwardly at an angle of between 1 and 6 degrees tothe transverse plane.
 47. The walker as claimed in claim 42, wherein theknee joint is offset rearwardly from the upper leg structural member toalign substantially with an axis of rotation of the user's knee inoperation.
 48. The walker as claimed in claim 42 wherein the knee jointis a polycentric knee joint.
 49. The walker as claimed in claim 42wherein said foot joint is a rose joint, a universal joint or ball andsocket joint, configured for facilitating multi axis rotationalcapability of said foot member relative said lower leg structuralmember.
 50. The walker as claimed in claim 42, wherein said exoskeletoncomprises, for each of the first leg structure and second leg structure,a secondary foot actuator, configured for actuating rotation of saidfoot member about an axis of rotation extending parallel to saidsagittal plane.
 51. The walker as claimed in claim 42, wherein each footjoint is configured for pivotal movement of the foot member by the mainfoot actuator with the axis of the foot joint extending laterally of thesagittal plane and downwardly at an angle of between zero and 6 degreesto the transverse plane.
 52. The walker as claimed in claim 50, whereinthe foot joint is configured for pivotal movement of the foot member bythe secondary foot actuator in a range of about six degrees to eitherside of a vertical plane.
 53. The walker as claimed in claim 42 whereinthe user securing arrangement is configured for fully supporting theuser operationally at or towards the user's pelvic region, so that thatthe user's legs do not support the weight of the user.
 54. The walker asclaimed in claim 42 wherein a plurality of sensors are provided forproviding information to the control system for facilitating control ofmovement of the exoskeleton.
 55. The walker as claimed, in claim 54wherein the plurality of sensors are configured for sensing acharacteristic to be sensed, and generating a signal indicative of thatcharacteristic, and transmitting the signal to the control system torfacilitating the control of movement of the exoskeleton.
 56. The walkeras claimed in claim 54 wherein said sensors are selected from at leastone of: an accelerometer to measure an acceleration of at least one ormore selected from said pelvic support member, the upper leg structuralmembers, the lower leg structural members and the foot members, aninclinometer to measure an inclination of at least one or more selectedfrom said, pelvic support member, the upper leg structural members, thelower leg structural members and the foot members, distance sensorsconfigured for determining a slope of the ground anteriorly, posteriorlyand laterally of the walker, pressure sensors disposed on the footmember to determine pressure being applied by the foot member to theground, and position sensors for determining position and velocity ofthe actuators.
 57. The walker as claimed in claim 42 wherein saidcontroller includes a gyroscope configured for defining a referenceframe for purposes of positional control of the exoskeleton or part ofthe exoskeleton.
 58. An exoskeleton device worn by a paraplegic user fordevice controlled walking of the user, said exoskeleton devicecomprising: a rigid pelvic support member to which is affixed a pelvicharness configured for engaging with the user at or towards the pelvisof the user to support said user operationally, a first leg structureand a second leg structure, each of the first leg structure and thesecond leg structure being coupled to and extending from said pelvicsupport member for operational location adjacent a respective leg of auser, each of the first leg structure and second leg structurecomprising an upper leg structural member for engagement with the upperleg of the user, the upper leg structural member being pivotally engagedat a first end thereof to the pelvic support member by a hip joint,wherein the hip joint is configured for facilitating multi axisrotational movement of said upper leg structural member relative to saidpelvic support member towards and away from the user's coronal plane inoperation; a lower leg structural member for engagement with the lowerleg of the user, the lower leg structural member being pivotally engagedat a first end thereof to a second end of the upper leg structuralmember by a knee joint, a foot member for engagement with the root of auser, the foot member being pivotally engaged to a second end of thelower leg member by a passive foot joint configured to be driven and forfacilitating multi axis rotational movement of said foot member relativeto said lower leg member towards and away from a transverse plane of theuser's body for dorsiflexion and plantar flexion of the foot member, andtowards and away from a sagittal plane of the user's body for inversionand eversion of the foot member, a main hip actuator configured foractuating pivotal movement and control the position of said upper legstructural member relative to said pelvic support member about said hipjoint, to in use pivot the upper leg structural member towards and awayfrom the coronal plane of the body of the user, a knee actuatorconfigured for actuating pivotal movement and control the position ofsaid lower leg structural member relative said upper leg structuralmember about said knee joint, a linear main foot actuator configured foractuating pivotal movement and controlling the position of said, footmember relative said lower leg structural member for dorsiflexion andplantar flexion about said foot joint, the main foot actuator connectedat i) a proximal end to the foot member at an offset distance below andposterior to the pivotal axis the foot joint and ii) a distal end to thelower leg structural member at an offset, distance below and. posteriorto the knee joint; and a linear secondary foot actuator configured foractuating pivotal movement and control the position of said foot memberrelative said, lower leg structural member for inversion and eversion ofthe foot member about said foot, joint, the secondary foot actuatorconnected at i) a proximal end to the foot member at an offset distancebelow and posterior to the pivotal axis of the foot joint and ii) adistal end to the lower leg structural member at an offset distancebelow and posterior to the knee joint.
 59. The exoskeleton device asclaimed in claim 58 wherein said exoskeleton comprises a power sourceconfigurable for providing power to at least one or more selected fromsaid main hip actuators, knee actuators, and main foot actuators. 60.The exoskeleton device as claimed in claim 58 wherein the exoskeletondevice is worn by a paraplegic user for device controlled and userspecified walking motion.
 61. The exoskeleton device as claimed in claim58 wherein the actuators are electric actuators.
 62. The exoskeletondevice as claimed in claim 58 wherein the foot joint is a rose joint.